CN206455687U - Joint structure and robot - Google Patents
Joint structure and robot Download PDFInfo
- Publication number
- CN206455687U CN206455687U CN201621492201.9U CN201621492201U CN206455687U CN 206455687 U CN206455687 U CN 206455687U CN 201621492201 U CN201621492201 U CN 201621492201U CN 206455687 U CN206455687 U CN 206455687U
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- joint
- steering wheel
- switching
- shell
- surely
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- 208000037873 arthrodesis Diseases 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 7
- 230000008878 coupling Effects 0.000 abstract 3
- 238000010168 coupling process Methods 0.000 abstract 3
- 238000005859 coupling reaction Methods 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005194 fractionation Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of the robot, especially, relate to a joint structure and robot, wherein, the joint structure includes fixed joint and switching joint, fixed joint is including deciding a casing, arrange the first steering wheel in deciding a casing in, and be used for connecting the coupling assembling of the output shaft of switching joint and first steering wheel, coupling assembling include with switching joint fixed connection's first ring flange, and be used for connecting the output shaft of first steering wheel and the second ring flange of first ring flange, the switching joint is worn out to outside deciding a casing from deciding a casing. The utility model discloses a coupling assembling realizes being connected between first steering wheel and the switching joint, reduces the installation time of first steering wheel to joint structure's installation effectiveness has been improved.
Description
Technical field
The utility model belongs to robotic technology field, more particularly to a kind of articulation structure and robot.
Background technology
Articulation structure is used to realize the activity in robot between two joint arm.Steering wheel in current articulation structure is in peace
During dress, steering wheel is difficult to be directed at matching with other parts, and installation process more takes, and causes articulation structure to exist and installs effect
The problem of rate is low.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art there is provided a kind of articulation structure, and it is intended to solution
The problem of certainly installation effectiveness is low.
What the utility model was realized in：
A kind of articulation structure, including fixing joint and switching joint, the fixing joint include saving housing surely, are placed in institute
The first steering wheel in fixed section housing is stated, and for connecting the switching joint and the connection group of the output shaft of first steering wheel
Part, the connection component includes the first flange disk being connected with the switching arthrodesis, and for connecting first rudder
The second flange disk of the output shaft of machine and the first flange disk, the switching joint is passed to described out of described the housing of section surely
Surely outside section housing.
Alternatively, the output shaft of first steering wheel is provided with the first steering wheel, first steering wheel and the second flange disk
Connection.
Alternatively, the housing of section surely includes first and saves shell surely, and saves shell surely with described first and be detachably connected
Second save shell surely, described first surely section shell and described second surely section shell be collectively forming the first accommodating cavity, and with institute
The first perforation of the first accommodating cavity connection is stated, the switching joint is arranged in first perforation, and first steering wheel is contained in
In first accommodating cavity.
Alternatively, described first shell is saved surely in inner side provided with the first locating part, described second saves shell surely sets in inner side
There is the second locating part, first locating part and second locating part are common in first accommodating cavity encirclement, first rudder
Machine.
Alternatively, the fixing joint also includes tightening bearing, and the switching joint passes through the inner ring of the tightening bearing
And with the inner ring immovable fitting of the tightening bearing, the outer ring of the tightening bearing with it is described surely save housing immovable fitting.
Alternatively, the articulation structure also includes the turning joint being connected with the switching joint；
The switching joint includes switching housing and the second steering wheel being placed in the switching housing, second steering wheel
The output shaft of output shaft and first steering wheel be vertically arranged, the turning joint includes movable joint housing, and with the work
The axle fitting that section housing is connected and is connected with the output shaft of second steering wheel.
Alternatively, the switching housing includes the first switching shell, and is detachably connected with the described first switching shell
The second switching shell, the first switching shell and the second switching shell be collectively forming the second accommodating cavity, and with institute
The second perforation of the second accommodating cavity connection is stated, the axle fitting is arranged in second perforation.
Alternatively, the axle fitting it is plate-like set, the switching joint include be used for connect the axle fitting with it is described
Second steering wheel of the output shaft of the second steering wheel.
Alternatively, the movable joint housing includes the first movable joint shell, and is detachably connected with the first movable joint shell
The second movable joint shell, the axle fitting be located at the first movable joint shell.
The utility model also provides a kind of robot, including above-mentioned articulation structure.
The utility model articulation structure realizes the connection between the first steering wheel and switching joint by connection component, namely
Be realized by first flange disk and second flange disk the first steering wheel and switching joint between connection, so, when need peace
When filling the first steering wheel, due to being connected by first flange disk and second flange disk between the first steering wheel and switching joint, and
Structure based on ring flange, that is to say first flange disk and second flange disk is in plate-like structure, first flange disk and second
Ring flange can fast and efficiently be directed at pairing, and after alignment pairing, reconnect first flange disk and second flange disk, from
And the problem of the first steering wheel is aligned with the matching of other parts is fast and efficiently completed, so that when reducing the installation of the first steering wheel
Between, and improve the installation effectiveness of articulation structure.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the utility model embodiment, it will make below to required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present utility model,
For those of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is the overall structure diagram for the articulation structure that the utility model embodiment one is provided；
Fig. 2 is the part-structure schematic diagram for the articulation structure that the utility model embodiment one is provided；
Fig. 3 is Fig. 2 exploded view；
Fig. 4 be the utility model embodiment one provide first surely save shell structural representation；
Fig. 5 is the overall structure diagram for the articulation structure that the utility model embodiment two is provided；
Fig. 6 is the parts thereof exploded view for the articulation structure that the utility model embodiment two is provided；
Fig. 7 is the partial exploded view for the articulation structure that the utility model embodiment two is improved.
Drawing reference numeral explanation：
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain this
Utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
Only it is phase each other it should also be noted that, the orientation term such as left and right, upper and lower in the utility model embodiment
To concept or using the normal operating condition of product as reference, and it should not be regarded as restrictive.
Embodiment one
The utility model embodiment provides a kind of articulation structure, and the articulation structure can be used for realizing two adjacent mechanical arms
Connection, can be used for realizing the connection between two adjacent machine finger joints.In the present embodiment, as a kind of example, the pass
Nodule structure is used for the connection for realizing two adjacent mechanical arms.
Fig. 1 to Fig. 3 is referred to, the articulation structure includes fixing joint 100 and switching joint 200, fixing joint 100 is wrapped
Fixed section housing 110, the first steering wheel 120 being placed in fixed section housing 110 are included, and for connecting the switching rudder of joint 200 and first
The connection component 130 of the output shaft of machine 120, the first steering wheel 120 is mainly used in driving switching joint 200 and rotated.
Wherein, Fig. 2 and Fig. 3 are referred to, connection component 130 includes the first flange disk being fixedly connected with switching joint 200
131, and the second flange disk for being connected and being connected by bolt with first flange disk 131 with the output shaft of the first steering wheel 120
132, switching joint 200 is passed out of fixed section housing 110 to outside fixed section housing 110.
The utility model articulation structure is realized by connection component 130 between first steering wheel 120 and switching joint 200
Connection, that is to say by first flange disk 131 and second flange disk 132 to realize between the first steering wheel 120 and switching joint 200
Connection, so, when needing to install the first steering wheel 120, due to being by the between the first steering wheel 120 and switching joint 200
What one ring flange 131 and second flange disk 132 were connected, and the structure based on ring flange, it that is to say first flange disk 131 and second
Ring flange 132 is in plate-like structure, and first flange disk 131 and second flange disk 132 can fast and efficiently be directed at pairing,
And after alignment pairing, first flange disk 131 and second flange disk 132 are reconnected, so as to fast and efficiently complete the first steering wheel
120 match the problem of being aligned with other parts, so as to reduce the set-up time of the first steering wheel 120, and improve articulation structure
Installation effectiveness.
In the present embodiment, first flange disk 131 and second flange disk 132 are bolted, so, are installing first
During steering wheel 120, the first fixed transfer joint 200 of first flange disk 131, second flange disk 132 is fixed to the output of the first steering wheel 120
Axle, then second flange disk 132 is conformed into first flange disk 131, now, first flange disk 131 and second flange disk 132 are hanging down
It is directly to make second flange disk in place, then in the position relationship in the card of first flange disk 131 or second flange disk 132
132 first flange disk 131 card move, until completely pairing, then by screw be used for connect the He of first flange disk 131
The bolt of second flange disk 132.Wherein, the process moved in second flange disk 132 in the card of first flange disk 131
In, a bolt, when being directed at first screwed hole, can be placed by bolt auxiliary positioning, and when being directed at first screwed hole,
Another bolt is placed, so as to allow bolt to play positioning action, and is improved between first flange disk 131 and second flange disk 132
Efficiency is directed at, and then improves the installation effectiveness of articulation structure.
When needing to pull down the first steering wheel 120, then it need to only unscrew for connecting first flange disk 131 and second flange disk
132 bolt.
In above-mentioned, location structure can be provided between first flange disk 131 and second flange disk 132, specifically, in the first method
Blue disk 131 sets locating slot, and the positioning convex coordinated with locating slot is convexly equipped with second flange disk 132, or in the second method
Blue disk 132 sets locating slot, and the positioning convex coordinated with locating slot is convexly equipped with first flange disk 131.
Fig. 2 and Fig. 3 are referred to, in this embodiment, the output shaft of the first steering wheel 120 is provided with the first steering wheel 121, the first steering wheel
Be bolted between 121 and second flange disk 132, so, the output shaft and second flange disk 132 of the first steering wheel 120 it
Between connection can be realized by the first steering wheel 121, wherein, due to the first steering wheel 121 also in plate-like structure set, the first steering wheel
Alignment pairing is also allowed between 121 and second flange disk 132, and passes through bolt between the first steering wheel 121 and second flange disk 132
Connection, so, is easy to assembly or disassembly between the first steering wheel 121 and second flange disk 132.
Fig. 1 to Fig. 4 is referred to, housing 110 is saved surely includes the first section shell 111, and section shell 111 can surely with first surely
The section shell (not marked in figure) surely of the second of dismounting connection, first surely section shell 111 and second save shell surely and be collectively forming first
Accommodating cavity, and the first perforation connected with the first accommodating cavity, switching joint 200 are arranged in the first perforation, and the first steering wheel 120 is received
It is dissolved in the first accommodating cavity.Wherein, due to first surely section shell 111 save shell surely with second and be detachably connected, so, by the
Certain section shell 111 and second is saved after shell fractionation surely, is conducive to the dismounting of the first steering wheel 120.
Further, Fig. 2 to Fig. 4 is referred to, first saves shell 111 surely is provided with the first locating part 1111, second in inner side
Surely section shell is provided with the second locating part in inner side, and the first locating part 1111 and the second locating part are common in encirclement in the first accommodating cavity
First steering wheel 120.So, the common limitation of the first locating part 1111 and the second locating part is passed through, it is to avoid the first steering wheel 120 is
It is moved in one accommodating cavity.
In the present embodiment, the first steering wheel 120 is fixedly installed in first by metal frame (not marked in figure) and saves shell surely
111.It is of course also possible to be to be fixedly installed in second by metal frame to save shell surely.
Fig. 2 and Fig. 3 are referred to, in the present embodiment, fixing joint 100 also includes tightening bearing (not shown), turns
Connect joint 200 through the inner ring of tightening bearing and with the inner ring immovable fitting of tightening bearing, the outer ring of tightening bearing and save shell surely
The immovable fitting of body 110.So, by the setting of tightening bearing, ensureing that switching joint 200 can be relative to fixed 110 turns of housing of section
While dynamic, it can prevent switching joint 200 or fixed body contact body from being worn and torn because being rotated switching joint 200.
Embodiment two
Fig. 5 to Fig. 7 is referred to, the present embodiment and the difference of embodiment one are, articulation structure also includes and switching joint
The turning joint 300 of 200 connections, based on this, switching joint 200 includes switching housing 210 and is placed in switching housing 210
Second steering wheel 220, the output shaft of the output shaft of the second steering wheel 220 and the first steering wheel 120 is vertically arranged, and turning joint 300 includes
Movable joint housing 310, and the axle fitting 320 for being connected and being connected with the output shaft of the second steering wheel 220 with movable joint housing 310.So,
The articulation structure is added one degree of freedom, made by the setting of fixing joint 100, switching joint 200 and turning joint 300
Obtaining turning joint 300 has two frees degree, so as to improve the flexibility ratio of articulation structure.
Further, referring to Fig. 6, switching housing 210 include first switching shell 211, and with first switching shell
211 the second switching shells 212 being detachably connected, the first switching switching shell 212 of shell 211 and second is collectively forming the second appearance
Chamber, and the second perforation connected with the second accommodating cavity are put, axle fitting 320 is arranged in the second perforation.Wherein, due to the first switching
Shell 211 with second switching shell 212 be detachably connected, so, by first switching shell 211 and second switching shell 212
After fractionation, it is easy to the dismounting of the second steering wheel 220.
Set referring to Fig. 7, axle fitting 320 is plate-like, switching joint 200 includes being used for connecting shaft fitting 320 and second
Second steering wheel of the output shaft of steering wheel 220.Wherein, because the second steering wheel and axle fitting 320 are set in plate-like structure, this
Sample, is conducive to the alignment of the second steering wheel and axle fitting 320 to match.Specifically, in the present embodiment, the rudder of axle fitting 320 and second
It is bolted between disk, turning joint 300 also includes located at the outside of axle fitting 320 and the dress for covering axle fitting 320
Gadget 330, to improve the aesthetics of turning joint 300.
Fig. 6 and Fig. 7 are referred to, movable joint housing 310 includes the first movable joint shell 311, and can with the first movable joint shell 311
Dismantle connection the second movable joint shell 312, axle fitting 320 be located at the first movable joint shell 311, and with the first movable joint shell 311 1
Body structure.So, it is easy in movable joint housing 310 place function element.
Embodiment three
The utility model also proposes a kind of robot, and the robot includes articulation structure, the concrete structure of the articulation structure
With reference to above-described embodiment, because this articulation structure employs whole technical schemes of above-mentioned all embodiments, therefore equally have
All beneficial effects that the technical scheme of above-described embodiment is brought, this is no longer going to repeat them.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model
Any modification, equivalent substitution or improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (10)
1. a kind of articulation structure, it is characterised in that including fixing joint and switching joint, the fixing joint includes saving shell surely
Body, the first steering wheel being placed in the housing of section surely, and for connecting the output in the switching joint and first steering wheel
The connection component of axle, the connection component includes the first flange disk being connected with the switching arthrodesis, and for connecting
The second flange disk of the output shaft of first steering wheel and the first flange disk, the switching joint is out of described the housing of section surely
Pass to outside the housing of section surely.
2. articulation structure as claimed in claim 1, it is characterised in that the output shaft of first steering wheel is provided with the first steering wheel,
First steering wheel is connected with the second flange disk.
3. articulation structure as claimed in claim 1, it is characterised in that the housing of section surely saves shell surely including first, and
With described first surely section shell be detachably connected second save shell surely, described first surely section shell and described second saves shell surely
The first accommodating cavity, and the first perforation connected with first accommodating cavity are collectively forming, the switching joint is arranged in described
First perforation, first steering wheel is contained in first accommodating cavity.
4. articulation structure as claimed in claim 3, it is characterised in that described first surely section shell it is spacing provided with first in inner side
Part, described second surely section shell be provided with the second locating part in inner side, first locating part and second locating part it is common in
First accommodating cavity surrounds first steering wheel.
5. articulation structure as claimed in claim 1, it is characterised in that the fixing joint also includes tightening bearing, described turn
Connect joint through the tightening bearing inner ring and with the inner ring immovable fitting of the tightening bearing, the outer ring of the tightening bearing
Housing immovable fitting is saved surely with described.
6. articulation structure as claimed in claim 1, it is characterised in that the articulation structure also includes connecting with the switching joint
The turning joint connect；
The switching joint include switching housing and be placed in it is described switching housing in the second steering wheel, second steering wheel it is defeated
The output shaft of shaft and first steering wheel is vertically arranged, the turning joint include movable joint housing, and with the movable joint shell
The axle fitting that body is connected and is connected with the output shaft of second steering wheel.
7. articulation structure as claimed in claim 6, it is characterised in that the switching housing includes the first switching shell, and
The second switching shell being detachably connected with the described first switching shell, the first switching shell and the second switching shell
It is collectively forming the second accommodating cavity, and the second perforation connected with second accommodating cavity, the axle fitting is arranged in described the
Two perforation.
8. articulation structure as claimed in claim 7, it is characterised in that the axle fitting is plate-like to be set, the switching joint
Including the second steering wheel for connecting the axle fitting and the output shaft of second steering wheel.
9. articulation structure as claimed in claim 6, it is characterised in that the movable joint housing includes the first movable joint shell, and
The second movable joint shell being detachably connected with the first movable joint shell, the axle fitting is located at the first movable joint shell.
10. a kind of robot, it is characterised in that including articulation structure as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621492201.9U CN206455687U (en) | 2016-12-30 | 2016-12-30 | Joint structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621492201.9U CN206455687U (en) | 2016-12-30 | 2016-12-30 | Joint structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206455687U true CN206455687U (en) | 2017-09-01 |
Family
ID=59697636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621492201.9U Active CN206455687U (en) | 2016-12-30 | 2016-12-30 | Joint structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206455687U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737823A (en) * | 2016-12-30 | 2017-05-31 | 深圳市优必选科技有限公司 | Joint structure and robot |
-
2016
- 2016-12-30 CN CN201621492201.9U patent/CN206455687U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737823A (en) * | 2016-12-30 | 2017-05-31 | 深圳市优必选科技有限公司 | Joint structure and robot |
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| GR01 | Patent grant |